Hi, I have accurate xyz coordinates provided and would like to set reference coordinates that the ROV automatically goes to. This is simple controller theory and wouldn’t be much harder than some pid regulators on the closed loop system. I cant imagine that someone else has not done so already. My question is, does the regulator for the xyz plane exist? I know there are one for the euler angels and depth, but I can not find anything on x and y. On going to use ROS and would like to publish reference position as well as real position (guess im only publishing the error). When I look at your documentation there is no node graph, but from other forum posts it looks like you are only publishing cmd_vel to the pixhawk, and that means that the controller should be on the pi, witch it it not.